controller_diagnostics.cpp
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34 
35 
37 
38 
39 using namespace pr2_mechanism_diagnostics;
40 using namespace std;
41 
42 // Controller statistics
43 ControllerStats::ControllerStats(string nam, bool disable_warnings) :
44  name(nam),
45  timestamp(0),
46  running(false),
47  num_overruns(0),
48  last_overrun_time(0),
49  disable_warnings_(disable_warnings)
50 { }
51 
52 bool ControllerStats::update(const pr2_mechanism_msgs::ControllerStatistics &cs)
53 {
54  if (name != cs.name)
55  {
56  ROS_ERROR("Controller statistics attempted to update with a different name! Old name: %s, new name: %s.", name.c_str(), cs.name.c_str());
57  return false;
58  }
59 
60  timestamp = cs.timestamp;
61  running = cs.running;
62  max_time = cs.max_time;
63  mean_time = cs.mean_time;
64  variance_time = cs.variance_time;
65  num_overruns = cs.num_control_loop_overruns;
66  last_overrun_time = cs.time_last_control_loop_overrun;
67 
69 
70  return true;
71 }
72 
74 {
76 
77  stat->name = "Controller (" + name + ")";
78 
79  if (running)
80  stat->summary(diagnostic_msgs::DiagnosticStatus::OK, "Running");
81  else
82  stat->summary(diagnostic_msgs::DiagnosticStatus::OK, "Stopped");
83 
84  if (!disable_warnings_ && num_overruns > 0)
85  {
86  if ((ros::Time::now() - last_overrun_time).toSec() < 30)
87  stat->summary(diagnostic_msgs::DiagnosticStatus::WARN, "!!! Broke Realtime, used more than 1000 micro seconds in update loop");
88  else
89  stat->summary(diagnostic_msgs::DiagnosticStatus::OK, "!!! Broke Realtime, used more than 1000 micro seconds in update loop");
90  }
91 
92  stat->add("Avg Update Time (usec)", (int)(mean_time.toSec() * 1e6));
93  stat->add("Max Update Time (usec)", (int)(max_time.toSec() * 1e6));
94  stat->add("Variance Update Time (usec)", (int) (variance_time.toSec() * 1e6));
95  stat->add("Percent of Cycle Time Used", (int) (mean_time.toSec() / 0.00001));
96  stat->add("Number of Control Loop Overruns", num_overruns);
97  stat->add("Timestamp of Last Overrun (sec)", last_overrun_time.toSec());
98 
99  return stat;
100 }
101 
pr2_mechanism_diagnostics
Publishes diagnostics for controllers, joints from pr2_mechanism_msgs/MechanismStatistics message.
Definition: controller_diagnostics.h:47
pr2_mechanism_diagnostics::ControllerStats::running
bool running
Definition: controller_diagnostics.h:129
controller_diagnostics.h
boost::shared_ptr
pr2_mechanism_diagnostics::ControllerStats::ControllerStats
ControllerStats(std::string nam, bool disable_warnings)
Definition: controller_diagnostics.cpp:43
TimeBase< Time, Duration >::toSec
double toSec() const
pr2_mechanism_diagnostics::ControllerStats::mean_time
ros::Duration mean_time
Definition: controller_diagnostics.h:131
pr2_mechanism_diagnostics::ControllerStats::update
bool update(const pr2_mechanism_msgs::ControllerStatistics &cs)
Definition: controller_diagnostics.cpp:52
pr2_mechanism_diagnostics::ControllerStats::disable_warnings_
bool disable_warnings_
Definition: controller_diagnostics.h:136
ROS_ERROR
#define ROS_ERROR(...)
pr2_mechanism_diagnostics::ControllerStats::max_time
ros::Duration max_time
Definition: controller_diagnostics.h:130
pr2_mechanism_diagnostics::ControllerStats::timestamp
ros::Time timestamp
Definition: controller_diagnostics.h:128
pr2_mechanism_diagnostics::ControllerStats::variance_time
ros::Duration variance_time
Definition: controller_diagnostics.h:132
pr2_mechanism_diagnostics::ControllerStats::name
std::string name
Definition: controller_diagnostics.h:127
pr2_mechanism_diagnostics::ControllerStats::updateTime
ros::Time updateTime
Definition: controller_diagnostics.h:125
std
pr2_mechanism_diagnostics::ControllerStats::toDiagStat
boost::shared_ptr< diagnostic_updater::DiagnosticStatusWrapper > toDiagStat() const
Definition: controller_diagnostics.cpp:73
diagnostic_updater::DiagnosticStatusWrapper
pr2_mechanism_diagnostics::ControllerStats::last_overrun_time
ros::Time last_overrun_time
Definition: controller_diagnostics.h:134
pr2_mechanism_diagnostics::ControllerStats::num_overruns
int num_overruns
Definition: controller_diagnostics.h:133
DurationBase< Duration >::toSec
double toSec() const
ros::Time::now
static Time now()


pr2_mechanism_diagnostics
Author(s): Kevin Watts
autogenerated on Mon Mar 6 2023 03:49:19